#ifndef PID_CONTROLLER_H
#define PID_CONTROLLER_H

#include "stdio.h"

typedef struct {
    float Kp;
    float Ki;  
    float Kd;
    float prevError;
    float integral;
} pid_t;


void PID_Init(pid_t *pid, float Kp, float Ki, float Kd);
float PID_Calculate(pid_t *pid, float setpoint, float measuredValue, float dt);

#endif
